Quote:
Originally Posted by blackflame2996
For the past 2 years, our team has used PID through the CAN jaguar set PID functions. However, in light of multiple failures in the CAN jaguar system on our robot this year, including 2 jags suddenly failing to communicate with the bus in the Curie semifinals, we have decided to look into using talons as our primary motor controllers going forward. I would appreciate if anyone could post functional LabVIEW code to run PID for a shooter or similar application through the digital breakout, as my past attempts to do so have not been fruitful.
Thanks in advance,
David Donahue
|
We've had pretty good success with code similar to
this code for the past 2 years with shooters. We were able to get fast spin up times with minor oscillation around the set point with little tuning at all. In 2012 we used a KOP encoder, this year we used a lower count US digital encoder both with good success.
LabVIEW (like other programming languages I would assume) you need to setup how many counts to average over, etc. to get the best results. I can't remember off the top of my head how many counts we average over for the 64 count encoder.
As Ether said the Bang-Bang controller is also a really good option. I tinkered with it a little and it seemed pretty simple to implement.